measured walk

~8s

Walk, and let the robot tell you how far it really went.

Prereqs: standing in FSM 501 (Walk), a clear path one body-length longer than the request, you within reach.

say

> walk forward one metre

That sentence is the consent; NEON does not ask again.

what neon does

take_photo(question="Is the path ahead clear for 1 metre? ...")   # look first
g1_walk_forward(distance=1.0, speed=0.25)   # 1.0 m is the per-request cap
# -> {"moved": true, "requested_m": 1.0, "measured_m": 0.94,
#     "message": "moved 0.94 m (rc=0 ...)"}

Moved ninety-four centimetres.

The number is the robot's own odometry (rt/odommodestate before and after), not the request echoed back. When nothing moved the result says so:

# -> {"moved": false, "measured_m": 0.001,
#     "message": "SDK accepted (rc=0) but no displacement measured ... did NOT move"}

The robot did not move: it is not in walk mode. Stand me up first.

variations

> turn ninety degrees left        # g1_turn(angle_rad=1.57), reports measured_rad
> walk 30 cm, then tell me what you see

notes

• Odometry drifts over a room; measured_m is per request, not a map frame.
• Under 0.1 m is rounded up, over 1.0 m is capped: ask twice for two metres.
• Every walk is a tool row in the activity log with moved and measured_m.

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